contiki/platform/stepper-robot/stepper/stepper-interrupt.h
ksb 6a184e0897 Added codeprop loading to RAM.
Moved some stepper code to Thumb so it could be dynamically linked to.
2007-03-07 16:15:00 +00:00

81 lines
1.9 KiB
C

#ifndef __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
#define __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
#include <stepper.h>
/* Timer frequency */
#define TIMER_FREQ 748800
typedef struct _StepperContext StepperContext;
typedef struct _StepperState StepperState;
typedef struct _StepperTimerStep StepperTimerStep;
#define MAX_STEPS_PER_PERIOD 40
#define NUM_STEPPERS 2
#define STEPPER_MAX_VELOCITY 4000
#define STEPPER_MAX_ACCELRATION 4000
#define TIMING_ERRORS
struct _StepperState
{
long step_count;
uint32_t io_mask;
const uint32_t *acc_steps; /* Stepping sequence when accelerating */
const uint32_t *run_steps; /* Stepping sequence when running */
const uint32_t *hold_steps; /* Stepping sequence when stationary */
uint8_t current_step; /* in stepping sequence */
uint8_t sequence_length;
long velocity; /* steps/second * PPS */
long acceleration; /* steps/second^2 */
long step_full; /* steps, same as step_count at period boundaries */
long step_frac; /* (steps * PPS^2 * 2) % steps * PPS^2 */
long n_steps; /* full steps to move during this period */
StepperAccSeq *acceleration_sequence;
#ifdef TIMING_ERRORS
long err_max;
long err_min;
#endif
};
#define STEPPER_POWER_ACC 30
#define STEPPER_POWER_RUN 20
#define STEPPER_POWER_HOLD 10
#define STEPPER_POWER_OFF 0
#define STEPPER_DIRECTION_NONE 0
#define STEPPER_DIRECTION_FORWARD 1
#define STEPPER_DIRECTION_BACKWARD 2
struct _StepperTimerStep
{
StepperTimerStep *next;
StepperState *state;
uint16_t time;
uint8_t direction;
uint8_t power;
};
struct _StepperContext
{
unsigned int flags;
unsigned long period_count;
AT91PS_TC timer_channel;
StepperState steppers[NUM_STEPPERS];
StepperTimerStep *steps;
StepperTimerStep *current_step;
StepperUserCallback user_callback;
};
extern StepperContext stepper_context;
#endif /* __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__ */
void stepper_timer_interrupt(void);